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公开(公告)号：US12099371B2
公开(公告)日：2024-09-24
申请号：US17338874
申请日：2021-06-04
CPC classification number: G05D1/0891 , G01C22/00 , G01S17/89 , G05D1/0088 , G05D1/0212 , G05D1/08
Abstract: Embodiments of the disclosure provide methods and systems for continuous regulation of a nonholonomic mobile robot. An exemplary method may include identifying a current pose of the nonholonomic mobile robot in a world frame, where the current pose is represented by a first set of values defining a first set of states of the nonholonomic mobile robot in the world frame; receiving a final goal pose of the nonholonomic mobile robot, where the final goal pose is represented by a second set of values defining a second set of states of nonholonomic mobile robot in the world frame; determining a moving path for moving the nonholonomic mobile robot from the current pose to the final goal pose; and controlling the nonholonomic mobile robot to move from the current pose to the final goal pose according to the moving path, where the nonholonomic mobile robot moves to the final goal pose by converging the nonholonomic mobile robot from the first set of states to the second set of states simultaneously.
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公开(公告)号：US20240286282A1
公开(公告)日：2024-08-29
申请号：US18395309
申请日：2023-12-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YULONG GU , Youjun Xiong , Simin Zhang , Yun Zhao
CPC classification number: B25J9/1661 , B25J9/161 , B25J9/1653 , B25J19/022
Abstract: A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.
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公开(公告)号：USD1038846S1
公开(公告)日：2024-08-13
申请号：US29897363
申请日：2023-07-14
Applicant: UBTECH ROBOTICS CORP LTD , Futronics (NA) Corporation
Designer： Sichao Zhong , Qianshan Li , Chengkun Zhang , Kun Xie , Huan Tan
Abstract: FIG. 1 is a first perspective view of an electric wheelchair showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof; and,
FIG. 8 is a bottom plan view thereof.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.-
公开(公告)号：US20240198532A1
公开(公告)日：2024-06-20
申请号：US18518960
申请日：2023-11-25
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： MENG YAN , Chunyu Chen , Jiangchen Zhou , Lihua Lu
IPC: B25J9/16
CPC classification number: B25J9/1689
Abstract: A method for robot telcoperation control is provided. The method includes acquiring target action data and displacement data of a target object, wherein the target action data includes head action data and arm action data; controlling a target robot to act according to the target action data to enable the target robot to complete an action corresponding to the target action data; and performing centroid trajectory planning on the target robot based on a model predictive control (MPC) algorithm according to the displacement data to obtain a target centroid trajectory, and establishing a spring-damping system to track the target centroid trajectory so as to enable the target robot to move to a position corresponding to the displacement data.
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公开(公告)号：US11938635B2
公开(公告)日：2024-03-26
申请号：US17702819
申请日：2022-03-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhihao Zhang , Yizhang Liu , Jinliang Chen , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1607
Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
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Patent Agency Ranking
公开(公告)号：US11919162B2
公开(公告)日：2024-03-05
申请号：US17134155
申请日：2020-12-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wei He , Youjun Xiong
CPC classification number: B25J9/1617 , A63H33/04 , G06F13/4068 , G05B2219/40304
Abstract: An identification (ID) number setting method for a modular device that comprises a master building element and a plurality of slave building elements that are connected to the master building element, includes: disconnecting the slave building elements from the master building element; setting ID numbers of all of the slave building elements to be a preset ID number; and assigning new ID numbers to slave building elements of N tiers that are connected to one output interface of the master building element in an order from first tier to Nth tier, wherein the slave building elements of the first tier are slave building elements that are directly connected to the output interface, the slave building elements of the Nth tier are slave building elements that are indirectly connected to the output interface through slave building elements of a (N−1)th tier, N is a natural number greater than 1.
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公开(公告)号：US20240053168A1
公开(公告)日：2024-02-15
申请号：US18232791
申请日：2023-08-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YONGSHENG ZHAO , Yu Tang
IPC: G01C21/00
CPC classification number: G01C21/3837
Abstract: A mapping method for a robot includes: detecting a plurality of linear trajectories of the robot in a process of building a map; inserting a positioning key frame corresponding to each of the linear trajectories, wherein the positioning key frame comprises, when the robot is located on a corresponding one of the linear trajectories, a first pose in a positioning coordinate system, and a second pose in a map coordinate system; and for each two adjacent ones of the linear trajectories, according to one of the first poses determined according to a displacement between the positioning key frames of the two adjacent ones of the linear trajectories, performing optimization of loop closure constraints on the second poses of the positioning key frames, and generating a map based on the optimized positioning key frames.
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公开(公告)号：US11901668B2
公开(公告)日：2024-02-13
申请号：US16926634
申请日：2020-07-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Wei He , Youjun Xiong
CPC classification number: H01R13/6205 , B25J9/08 , B25J13/087 , B25J19/0025 , H01R13/6683
Abstract: A modular device includes a polyhedral building element having a first type connector and a number of second type connectors; and a main control module comprising a plurality of second type connectors. The first type connector and the second type connectors are disposed on side surfaces of the building element. One of the second type connectors of the main control module is used to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module. The first type connector includes a first detection circuit, and each second type connector includes a second detection circuit.
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159.发明公开公开(公告)号：US20240017404A1
公开(公告)日：2024-01-18
申请号：US18371472
申请日：2023-09-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1628
Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.
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公开(公告)号：US20240009841A1
公开(公告)日：2024-01-11
申请号：US18217662
申请日：2023-07-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jindi Zhang , Youjun Xiang , Meihui Zhang
CPC classification number: B25J9/1664 , B25J9/161 , B25J17/00
Abstract: A dynamic target tracking method for a robot having multiple joints includes: obtaining a motion state of a tracked dynamic target in real time; performing motion prediction according to the motion state at a current moment to obtain a predicted position of the dynamic target; performing lag compensation on the predicted position to obtain a compensated predicted position; performing on-line trajectory planning according to the compensated predicted position to obtain planning quantities of multi-step joint motion states at multiple future moments, and determining a multi-step optimization trajectory according to the planning quantities and a multi-step optimization objective function; and controlling the joints of the robot to according to the multi-step optimization trajectory.
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